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<div class="header">
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<div class="title">bodyparts_detector.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Copyright (c) 2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *   * Neither the name of Willow Garage, Inc. nor the names of its</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
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<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
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<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> * </span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> * @author: Koen Buys, Anatoly Baksheev</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160; </div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef PCL_GPU_PEOPLE_RDF_BODYPARTS_DETECTOR_H</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define PCL_GPU_PEOPLE_RDF_BODYPARTS_DETECTOR_H</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;pcl/pcl_exports.h&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2point__types_8h.html">pcl/point_types.h</a>&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/point_cloud.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/gpu/containers/device_array.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/gpu/people/colormap.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;pcl/gpu/people/label_blob2.h&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#include &lt;pcl/gpu/people/label_common.h&gt;</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="preprocessor">#include &quot;pcl/gpu/people/person_attribs.h&quot;</span></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="preprocessor">#include &lt;boost/shared_ptr.hpp&gt;</span></div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="preprocessor">#include &lt;string&gt;</span></div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160; </div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;{</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  <span class="keyword">namespace </span>device</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  {</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    <span class="comment">// This just seems hacky ...</span></div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    <span class="keyword">class </span>MultiTreeLiveProc;</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  }</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160; </div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  <span class="keyword">namespace </span>gpu</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  {</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    <span class="keyword">namespace </span>people</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    {</div>
<div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1people_1_1_r_d_f_body_parts_detector.html">   65</a></span>&#160;      <span class="keyword">class </span>PCL_EXPORTS <a class="code" href="classpcl_1_1gpu_1_1people_1_1_r_d_f_body_parts_detector.html">RDFBodyPartsDetector</a></div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;      {</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;        <span class="keyword">public</span>:</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;          <span class="keyword">typedef</span> boost::shared_ptr&lt;RDFBodyPartsDetector&gt; Ptr;          </div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;          <span class="keyword">typedef</span> std::vector&lt;std::vector&lt;Blob2, Eigen::aligned_allocator&lt;Blob2&gt; &gt; &gt; BlobMatrix;</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;          </div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;          <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">DeviceArray2D&lt;unsigned char&gt;</a> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">Labels</a>;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;          <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">DeviceArray2D&lt;unsigned short&gt;</a> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">Depth</a>;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;          <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">DeviceArray2D&lt;pcl::RGB&gt;</a> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">Image</a>;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160; </div>
<div class="line"><a name="l00076"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1people_1_1_r_d_f_body_parts_detector.html#a8f9bf15da53f7bbe796ff71634e1ed57">   76</a></span>&#160;          <a class="code" href="classpcl_1_1gpu_1_1people_1_1_r_d_f_body_parts_detector.html#a8f9bf15da53f7bbe796ff71634e1ed57">RDFBodyPartsDetector</a>(<span class="keyword">const</span> std::vector&lt;std::string&gt;&amp; tree_files,</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;              <span class="keywordtype">int</span> default_buffer_rows = 480, <span class="keywordtype">int</span> default_buffer_cols = 640);</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160; </div>
<div class="line"><a name="l00082"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1people_1_1_r_d_f_body_parts_detector.html#a4a96a5e75310b69be2eb1e0a84499374">   82</a></span>&#160;          <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1gpu_1_1people_1_1_r_d_f_body_parts_detector.html#a4a96a5e75310b69be2eb1e0a84499374">process</a>(<span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">Depth</a>&amp; depth, <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud&lt;PointXYZ&gt;</a>&amp; cloud, <span class="keywordtype">int</span> min_pts_per_cluster);</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;          <span class="comment">// This are the different sub-parts of process()</span></div>
<div class="line"><a name="l00087"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1people_1_1_r_d_f_body_parts_detector.html#ae4f79f7e16c3dd7ba0fdb4404bdaf8cb">   87</a></span>&#160;<span class="comment"></span>          <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1gpu_1_1people_1_1_r_d_f_body_parts_detector.html#ae4f79f7e16c3dd7ba0fdb4404bdaf8cb">processProb</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">Depth</a>&amp; depth);</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160; </div>
<div class="line"><a name="l00092"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1people_1_1_r_d_f_body_parts_detector.html#a41493864b6689df96fc3a8ddf00765f6">   92</a></span>&#160;          <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1gpu_1_1people_1_1_r_d_f_body_parts_detector.html#a41493864b6689df96fc3a8ddf00765f6">processSmooth</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">Depth</a>&amp; depth, <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud&lt;PointXYZ&gt;</a>&amp; cloud, <span class="keywordtype">int</span> min_pts_per_cluster);</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160; </div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;          <span class="keywordtype">int</span></div>
<div class="line"><a name="l00099"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1people_1_1_r_d_f_body_parts_detector.html#a88c3f9dea8acee72e77c075b214dbb12">   99</a></span>&#160;          <a class="code" href="classpcl_1_1gpu_1_1people_1_1_r_d_f_body_parts_detector.html#a88c3f9dea8acee72e77c075b214dbb12">processRelations</a> ();</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160; </div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;          <span class="keywordtype">int</span></div>
<div class="line"><a name="l00107"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1people_1_1_r_d_f_body_parts_detector.html#a81e7030b98f36878159d6b8cead30cea">  107</a></span>&#160;          <a class="code" href="classpcl_1_1gpu_1_1people_1_1_r_d_f_body_parts_detector.html#a81e7030b98f36878159d6b8cead30cea">processRelations</a> (PersonAttribs::Ptr person_attribs);</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160; </div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;          <span class="comment">//getters</span></div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;          <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">Labels</a>&amp; getLabels() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;          <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">pcl::device::LabelProbability</a>&amp; getProbability() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;          <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">pcl::device::LabelProbability</a>&amp; getProbability1() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;          <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">pcl::device::LabelProbability</a>&amp; getProbability2() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;          <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">pcl::device::LabelProbability</a>&amp; getPrevProbability1() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;          <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">pcl::device::LabelProbability</a>&amp; getPrevProbability2() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;          <span class="keywordtype">size_t</span> getNumberTrees() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;          <span class="keyword">const</span> BlobMatrix&amp; getBlobMatrix() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160; </div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;          </div>
<div class="line"><a name="l00121"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1people_1_1_r_d_f_body_parts_detector.html#aff684169af9d9c4d2fbbbaf4b412ab43">  121</a></span>&#160;          <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">Labels</a> <a class="code" href="classpcl_1_1gpu_1_1people_1_1_r_d_f_body_parts_detector.html#aff684169af9d9c4d2fbbbaf4b412ab43">labels_</a>;</div>
<div class="line"><a name="l00123"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1people_1_1_r_d_f_body_parts_detector.html#a0ecda7b2ec4de69ccdf16714973a3369">  123</a></span>&#160;          <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">Labels</a> <a class="code" href="classpcl_1_1gpu_1_1people_1_1_r_d_f_body_parts_detector.html#a0ecda7b2ec4de69ccdf16714973a3369">labels_smoothed_</a>;</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160; </div>
<div class="line"><a name="l00126"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1people_1_1_r_d_f_body_parts_detector.html#a16dba41e3421ed3d6dc1c09c8d274cf5">  126</a></span>&#160;          <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">pcl::device::LabelProbability</a> <a class="code" href="classpcl_1_1gpu_1_1people_1_1_r_d_f_body_parts_detector.html#a16dba41e3421ed3d6dc1c09c8d274cf5">P_l_</a>;             <span class="comment">// the one is current worked in</span></div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;          <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">pcl::device::LabelProbability</a> P_l_Gaus_;        <span class="comment">// the current Gaussian buffer</span></div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;          <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">pcl::device::LabelProbability</a> P_l_Gaus_Temp_;   <span class="comment">// the current Gaussian buffer to store the intermediate</span></div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;          <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">pcl::device::LabelProbability</a> P_l_1_;           <span class="comment">// storage for the first iteration</span></div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;          <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">pcl::device::LabelProbability</a> P_l_2_;           <span class="comment">// storage for the second iteration</span></div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160; </div>
<div class="line"><a name="l00133"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1people_1_1_r_d_f_body_parts_detector.html#a37e1b2c73e3c921760e60e07fa29db22">  133</a></span>&#160;          <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">pcl::device::LabelProbability</a> <a class="code" href="classpcl_1_1gpu_1_1people_1_1_r_d_f_body_parts_detector.html#a37e1b2c73e3c921760e60e07fa29db22">P_l_prev_1_</a>;  <span class="comment">// for the first iteration</span></div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;          <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">pcl::device::LabelProbability</a> P_l_prev_2_;  <span class="comment">// for the second iteration</span></div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160; </div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;        <span class="keyword">private</span>:</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;          boost::shared_ptr&lt;device::MultiTreeLiveProc&gt; impl_;</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;          </div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;          <span class="keywordtype">int</span> max_cluster_size_;</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;          <span class="keywordtype">float</span> cluster_tolerance_;</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160; </div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;          BlobMatrix blob_matrix_;</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160; </div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;          <span class="comment">// hide this buffer using pImpl</span></div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;          std::vector&lt;unsigned char&gt;    lmap_host_;</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;          std::vector&lt;int&gt;              dst_labels_;</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;          std::vector&lt;int&gt;              region_sizes_;</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;          std::vector&lt;int&gt;              remap_;</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;          std::vector&lt;float&gt;            means_storage_;</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;          <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">DeviceArray2D&lt;int&gt;</a>            comps_;</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;          <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">DeviceArray2D&lt;unsigned char&gt;</a>  edges_;</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160; </div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;          <span class="keywordtype">void</span> allocate_buffers(<span class="keywordtype">int</span> rows = 480, <span class="keywordtype">int</span> cols = 640);</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;      };</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;    }</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;  }</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;}</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160; </div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* PCL_GPU_PEOPLE_RDF_BODYPARTS_DETECTOR_H */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_device_array2_d_html"><div class="ttname"><a href="classpcl_1_1gpu_1_1_device_array2_d.html">pcl::gpu::DeviceArray2D&lt; unsigned char &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1people_1_1_r_d_f_body_parts_detector_html"><div class="ttname"><a href="classpcl_1_1gpu_1_1people_1_1_r_d_f_body_parts_detector.html">pcl::gpu::people::RDFBodyPartsDetector</a></div><div class="ttdef"><b>Definition:</b> bodyparts_detector.h:66</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1people_1_1_r_d_f_body_parts_detector_html_a0ecda7b2ec4de69ccdf16714973a3369"><div class="ttname"><a href="classpcl_1_1gpu_1_1people_1_1_r_d_f_body_parts_detector.html#a0ecda7b2ec4de69ccdf16714973a3369">pcl::gpu::people::RDFBodyPartsDetector::labels_smoothed_</a></div><div class="ttdeci">Labels labels_smoothed_</div><div class="ttdoc">This contains the smoothed final body part labels</div><div class="ttdef"><b>Definition:</b> bodyparts_detector.h:123</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1people_1_1_r_d_f_body_parts_detector_html_a16dba41e3421ed3d6dc1c09c8d274cf5"><div class="ttname"><a href="classpcl_1_1gpu_1_1people_1_1_r_d_f_body_parts_detector.html#a16dba41e3421ed3d6dc1c09c8d274cf5">pcl::gpu::people::RDFBodyPartsDetector::P_l_</a></div><div class="ttdeci">pcl::device::LabelProbability P_l_</div><div class="ttdef"><b>Definition:</b> bodyparts_detector.h:126</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1people_1_1_r_d_f_body_parts_detector_html_a37e1b2c73e3c921760e60e07fa29db22"><div class="ttname"><a href="classpcl_1_1gpu_1_1people_1_1_r_d_f_body_parts_detector.html#a37e1b2c73e3c921760e60e07fa29db22">pcl::gpu::people::RDFBodyPartsDetector::P_l_prev_1_</a></div><div class="ttdeci">pcl::device::LabelProbability P_l_prev_1_</div><div class="ttdef"><b>Definition:</b> bodyparts_detector.h:133</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1people_1_1_r_d_f_body_parts_detector_html_a41493864b6689df96fc3a8ddf00765f6"><div class="ttname"><a href="classpcl_1_1gpu_1_1people_1_1_r_d_f_body_parts_detector.html#a41493864b6689df96fc3a8ddf00765f6">pcl::gpu::people::RDFBodyPartsDetector::processSmooth</a></div><div class="ttdeci">void processSmooth(const Depth &amp;depth, const PointCloud&lt; PointXYZ &gt; &amp;cloud, int min_pts_per_cluster)</div><div class="ttdoc">This smooths the labels and does the connected components</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1people_1_1_r_d_f_body_parts_detector_html_a4a96a5e75310b69be2eb1e0a84499374"><div class="ttname"><a href="classpcl_1_1gpu_1_1people_1_1_r_d_f_body_parts_detector.html#a4a96a5e75310b69be2eb1e0a84499374">pcl::gpu::people::RDFBodyPartsDetector::process</a></div><div class="ttdeci">void process(const Depth &amp;depth, const PointCloud&lt; PointXYZ &gt; &amp;cloud, int min_pts_per_cluster)</div><div class="ttdoc">This function does the complete RDF evaluation in a discrete manner and builds the blob matrix</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1people_1_1_r_d_f_body_parts_detector_html_a81e7030b98f36878159d6b8cead30cea"><div class="ttname"><a href="classpcl_1_1gpu_1_1people_1_1_r_d_f_body_parts_detector.html#a81e7030b98f36878159d6b8cead30cea">pcl::gpu::people::RDFBodyPartsDetector::processRelations</a></div><div class="ttdeci">int processRelations(PersonAttribs::Ptr person_attribs)</div><div class="ttdoc">This processes the blob_matrix_</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1people_1_1_r_d_f_body_parts_detector_html_a88c3f9dea8acee72e77c075b214dbb12"><div class="ttname"><a href="classpcl_1_1gpu_1_1people_1_1_r_d_f_body_parts_detector.html#a88c3f9dea8acee72e77c075b214dbb12">pcl::gpu::people::RDFBodyPartsDetector::processRelations</a></div><div class="ttdeci">int processRelations()</div><div class="ttdoc">This processes the blob_matrix_</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1people_1_1_r_d_f_body_parts_detector_html_a8f9bf15da53f7bbe796ff71634e1ed57"><div class="ttname"><a href="classpcl_1_1gpu_1_1people_1_1_r_d_f_body_parts_detector.html#a8f9bf15da53f7bbe796ff71634e1ed57">pcl::gpu::people::RDFBodyPartsDetector::RDFBodyPartsDetector</a></div><div class="ttdeci">RDFBodyPartsDetector(const std::vector&lt; std::string &gt; &amp;tree_files, int default_buffer_rows=480, int default_buffer_cols=640)</div><div class="ttdoc">This is the constructor</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1people_1_1_r_d_f_body_parts_detector_html_ae4f79f7e16c3dd7ba0fdb4404bdaf8cb"><div class="ttname"><a href="classpcl_1_1gpu_1_1people_1_1_r_d_f_body_parts_detector.html#ae4f79f7e16c3dd7ba0fdb4404bdaf8cb">pcl::gpu::people::RDFBodyPartsDetector::processProb</a></div><div class="ttdeci">void processProb(const Depth &amp;depth)</div><div class="ttdoc">This function processes based on the RDF with probabilistic voting scheme</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1people_1_1_r_d_f_body_parts_detector_html_aff684169af9d9c4d2fbbbaf4b412ab43"><div class="ttname"><a href="classpcl_1_1gpu_1_1people_1_1_r_d_f_body_parts_detector.html#aff684169af9d9c4d2fbbbaf4b412ab43">pcl::gpu::people::RDFBodyPartsDetector::labels_</a></div><div class="ttdeci">Labels labels_</div><div class="ttdoc">This contains the final body part labels</div><div class="ttdef"><b>Definition:</b> bodyparts_detector.h:121</div></div>
<div class="ttc" id="acommon_2include_2pcl_2point__types_8h_html"><div class="ttname"><a href="common_2include_2pcl_2point__types_8h.html">point_types.h</a></div></div>
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